Saga's art is consistently beautiful but the story is a mess until the arrival of Heist in Volume 2. From this point on the story gets much more focussed and loses the ridiculous adventure story aspect in favour of focussing on the problems and rivalries of the protagonists.
The slow burn revelation of Heist's seditious propaganda is the storyline that draws everything else together.
The story is in high gear by Volume 3 and in the final issues I was struck that even Prince Robot IV finally gets a sufficiently insightful moment that we can empathise with him as a complex character. Up until then we've been told he has problems and that he's unhappy but he's so one-dimensional that I didn't care.
The fakeout death of Lying Cat in Volume 2 is very weak sauce.